CN104134370A - Method of preventing collision in vehicle - Google Patents

Method of preventing collision in vehicle Download PDF

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Publication number
CN104134370A
CN104134370A CN201410184347.6A CN201410184347A CN104134370A CN 104134370 A CN104134370 A CN 104134370A CN 201410184347 A CN201410184347 A CN 201410184347A CN 104134370 A CN104134370 A CN 104134370A
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CN
China
Prior art keywords
time
intersection
approach
car
vehicle
Prior art date
Application number
CN201410184347.6A
Other languages
Chinese (zh)
Inventor
朴满福
Original Assignee
株式会社万都
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to KR1020130050328A priority Critical patent/KR101811470B1/en
Priority to KR10-2013-0050328 priority
Application filed by 株式会社万都 filed Critical 株式会社万都
Publication of CN104134370A publication Critical patent/CN104134370A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00Arrangements or adaptations of acoustic signal devices
    • B60Q5/005Arrangements or adaptations of acoustic signal devices automatically actuated
    • B60Q5/006Arrangements or adaptations of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18154Approaching an intersection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04Traffic conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/50External transmission of data to or from the vehicle for navigation systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle
    • B60W2556/65Data transmitted between vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • B60W2720/106Longitudinal acceleration

Abstract

Provided is a method of preventing a collision of vehicles at an intersection, including calculating position information of a subject vehicle approaching the intersection and position information of an opposite vehicle approaching another approach path to the intersection, calculating intersection approach times of the subject vehicle and the opposite vehicle based on the position information, calculating an approach time difference between the intersection approach time of the subject vehicle and the intersection approach time of the opposite vehicle, and performing a follow-up action depending on the approach time difference.

Description

Prevent the method for vehicle collision

Technical field

The present invention relates to a kind ofly prevent that vehicle is in the method for intersection collision, and relate more specifically to a kind ofly can calculate according to the intersection time to approach of Ben Che and opposite vehicle that time to approach is poor prevent that with what prevent reliably collision vehicle is in the method for intersection collision.

Background technology

In general, far above the accident rate at other road, therefore extremely important at intersection careful driving in the accident rate of intersection.

But awareness of safety and careful solution completely that this accident in intersection can not only depend on driver, therefore just utilizing the collision avoidance system of the intersection of the whole bag of tricks in development and application.

But the intersection collision avoidance system of development and application in the prior art has the complex process of calculating the vehicle collision time, and computational accuracy is not good enough.

In addition, the subsequent operation after calculating collision time is unclear, makes not to be decreased significantly in the accident rate of intersection.

Therefore, need a kind of solution to the problems described above.

Summary of the invention

The present invention relates to a kind of method that prevents that vehicle from colliding in intersection, the method can reasonably be calculated vehicle in the collision time of intersection and clearly carry out its subsequent operation.

Many aspects of the present invention are not limited to this, but other side and the feature do not described will be obvious to those skilled in the art from explanation below.

According to of the present invention, prevent that vehicle from comprising the following steps in the method for intersection collision: the positional information and the positional information that approaches the opposite vehicle of another road that approaches intersection of calculating this car that approaches described intersection; Intersection time to approach based on this car described in described positional information calculation and described opposite vehicle; The time to approach calculating between the intersection time to approach of described car and the intersection time to approach of described opposite vehicle is poor; And according to the poor execution subsequent operation of described time to approach.

In addition, carry out described subsequent operation and can be when described time to approach is poor while being more than or equal to the first setting-up time, described car advances under current state; When described time to approach is poor when being less than described the first setting-up time and being more than or equal to the second setting-up time, described car carried out to conflict alert; And when described time to approach is poor while being less than described the second setting-up time, calculate the aimed acceleration of described car.

In addition, when described time to approach is poor while being less than described the second setting-up time, can be by the aimed acceleration driver calculating.

In addition,, when described driver does not change acceleration according to the aimed acceleration of notice, can automatically control the acceleration of described car according to the aimed acceleration calculating.

In addition, when described time to approach is poor while being less than described the second setting-up time, according to the acceleration calculating, automatically control the acceleration of described car.

In addition, can calculate described aimed acceleration by following formula:

S - V 0 t 1 2 t

Wherein, S represents the distance of described intersection, V 0represent present speed, t represents intersection time to approach.

Because prevent that vehicle has for preventing the simple and rational algorithm of vehicle collision, so can carry out countermeasure fast and accurately in the method for intersection collision.

In addition, can carry out clearly subsequent operation further to improve security.

Effect of the present invention is not limited to above-mentioned effect, and for a person skilled in the art, other effect of the present invention will be more obvious from explanation below.

Accompanying drawing explanation

With reference to accompanying drawing, by describing illustrative embodiments of the present invention in detail, above and other objects of the present invention, feature and advantage will be more obvious to those skilled in the art, wherein:

Fig. 1 shows the view of the situation of Ben Che and vehicle approach intersection, opposite;

Fig. 2 shows the view of the intersection time to approach of Ben Che and opposite vehicle;

Fig. 3 shows the view of intersection time to approach when Ben Che and the opposite vehicle situation of collision happens in same range time;

The intersection time to approach that Fig. 4 shows this car is greater than the view of situation of the intersection time to approach of opposite vehicle;

The intersection time to approach that Fig. 5 shows this car is less than the view of situation of the intersection time to approach of opposite vehicle;

Fig. 6 shows according to the view of the subsequent operation calculation procedure of the first setting-up time and the second setting-up time.

Embodiment

With reference to accompanying drawing, will describe exemplary embodiment of the present invention in detail below.Although illustrate and described the present invention in conjunction with illustrative embodiments, clearly can, without departing from the spirit and scope of the present invention in the situation that, to the present invention, carry out various modifications for those skilled in the art.

Hereinafter, describe in detail with reference to the accompanying drawings according to of the present invention and prevent that vehicle is in the method for intersection collision.

Fig. 1 shows the view that this car V1 and opposite vehicle V2 approach the situation of intersection.

As shown in Figure 1, when this car V1 and opposite vehicle V2 approach intersection c simultaneously, there is the possibility of two cars collision.Therefore,, in order to address this problem, the present invention proposes a kind of method that prevents that vehicle from colliding in intersection.

Hereinafter, this car V1 is the vehicle that intersection collision avoidance system has been installed, and opposite vehicle V2 is when this car V1 approaches intersection c, approaches the vehicle that another approaches the road of intersection c.

First, carry out this car of calculating V1 and approach the positional information of intersection c and the step that opposite vehicle V2 approaches the positional information of another road that approaches intersection c.

In this step, the intersection collision avoidance system that is arranged on this car V1 is calculated positional information and the opposite vehicle V2 that this car V1 approaches intersection c and is approached the positional information that another approaches the road of intersection c.Namely, the intersection collision avoidance system that is arranged on this car V1 can be calculated the current location of this car V1 and opposite vehicle V2.

Here, can use such as the multiple device executing location information of GPS, radio communication etc. and calculate, and can carry out and calculate by the direct communication between this car V1 and opposite vehicle V2.

After this step, carry out the step that position-based information is calculated the intersection time to approach of this car V1 and opposite vehicle V2.

Fig. 2 shows the view of the intersection time to approach of this car V1 and opposite vehicle V2.

As shown in Figure 2, the positional information that step based on by calculating location information calculates can be calculated to the distance of the point of crossing P of intersection c, and the present speed of therefore, considering this car V1 and opposite vehicle V2 can calculate this car V1 and opposite vehicle V2 approaches the required intersection time to approach in intersection.

For convenience, the intersection time to approach of this car V1 is made as T1, and the intersection time to approach of opposite vehicle V2 is made as T 2.

Fig. 3 shows the view of intersection time to approach as this car V1 and the opposite vehicle V2 situation of collision happens in same range time.

As shown in Figure 3, as the intersection of this car V1 time to approach T 1intersection time to approach T with opposite vehicle V2 2be equal to each other or when similar, thereby this car V1 and opposite vehicle V2 arrive point of crossing P simultaneously, can cause vehicle collision.Here, the whole length etc. of considering vehicle can be determined the intersection time to approach T that can cause vehicle collision 1and T 2approximate value.

The intersection time to approach T1 that Fig. 4 shows this car V1 is greater than the intersection time to approach T of opposite vehicle V2 2the view of situation.

As shown in Figure 4, as the intersection of this car V1 time to approach T 1be greater than the intersection time to approach T of opposite vehicle V2 2time, due to opposite, vehicle V2 first arrives point of crossing P, and vehicle V2 is through after the P of point of crossing over there, and this car V1 approaches point of crossing P.Therefore, in this case, vehicle does not collide.

Fig. 5 shows the intersection time to approach T of this car V1 1be less than the intersection time to approach T of opposite vehicle V2 2situation.

As shown in Figure 5, as the intersection of this car V1 time to approach T 1be less than the intersection time to approach T of opposite vehicle V2 2time, because this car V1 first arrives point of crossing P, after this car V1 is through point of crossing P, opposite vehicle V2 approaches point of crossing P.Therefore, in this case, vehicle does not collide yet.

As mentioned above, in order to estimate the collision possibility of this car V1 and opposite vehicle V2, after calculating the step of intersection time to approach, carry out the intersection time to approach T that calculates this car V1 1intersection time to approach T with opposite vehicle V2 2between the poor step of time to approach.Hereinafter, the poor T that is made as of time to approach d.

Namely, as the poor T of time to approach dbe 0 or while approaching 0 setting value, estimate this car V1 and opposite vehicle V2 collision, and when the absolute value of the poor Td of time to approach departs from the setting value that approaches 0, estimate that this car V1 and opposite vehicle V2 do not collide.

Therefore, can be according to the poor T of time to approach dcarry out the step of subsequent operation.By intersection collision avoidance system, carry out subsequent operation, and according to environment, can carry out the various operations of this car V1, such as normal driving, deceleration etc.

Fig. 6 shows according to the first setting-up time S 1with the second setting-up time S 2the subsequent operation of calculation procedure.

In embodiment, subsequent operation comprises deceleration, warning and normal driving, and can be by the poor T of time to approach dbe divided into the first setting-up time S 1with the second setting-up time S 2.

Specifically, the first setting-up time S 1frontier point between the point that is illustrated in point that this car V1 and opposite vehicle V2 bump and does not bump at this car V1 and opposite vehicle V2.

Namely, as the poor T of time to approach dbe less than the first setting-up time S 1time, will there is the collision of this car V1 and opposite vehicle V2, and as the poor T of time to approach dbe greater than the first setting-up time S 1time, this car V1 and opposite vehicle V2 will not bump.

In addition, the second setting-up time S 2be illustrated in that this car V1 and opposite vehicle V2 do not bump but due near travelling and dangerous very large point and this car V1 and opposite vehicle V2 do not bump but due to the frontier point near travelling and between dangerous very little point.

Namely, as the poor T of time to approach dbe less than the second setting-up time S 2and be greater than the first setting-up time S 1time, although do not bump between this car V1 and opposite vehicle V2, close the travelling of vehicle may cause follow-up danger, and as the poor T of time to approach dbe greater than the second setting-up time S 2time, can normal driving thereby reduced the possibility of follow-up danger.

As mentioned above, in this embodiment, comprise the subsequent operation reference first setting-up time S of three steps of deceleration, warning and normal driving 1with the second setting-up time S 2set.

Namely, as the poor T of time to approach dbe more than or equal to the first setting-up time S 1time, this car V1 advances under current state, as the poor T of time to approach dbe less than the first setting-up time S 1and be more than or equal to the second setting-up time S 2time, this car V1 carries out conflict alert, and as the poor T of time to approach dbe less than the second setting-up time S 2time, this car V1 can carry out deceleration.

Here, as the poor T of time to approach dbe less than the second setting-up time S 2time, although system can automatically perform the deceleration of this car V1, before carry out slowing down, system can be calculated aimed acceleration and in advance by aimed acceleration driver.

Namely, when driver does not change the acceleration of this car V1 according to the aimed acceleration oneself of notice, system can be controlled automatically according to the aimed acceleration calculating the acceleration of this car V1.

In addition, can calculate aimed acceleration according to formula below.

S - V 0 t 1 2 t

In this formula, S represents the distance to intersection, V 0the speed that represents this car, t represents the intersection time to approach of this car of travelling.By calculating aimed acceleration, can realize the system with high reliability.

As mentioned above, the reliability that the method that prevents that vehicle from colliding in intersection according to the present invention can be divided into subsequent operation a plurality of steps and improve system by calculating aimed acceleration is to prevent collision.

Clearly, those skilled in the art can make various modifications to illustrative embodiments of the present invention in the situation that not departing from spirit and scope of the invention.Therefore, the present invention is intended to cover all modifications by within the scope of claim and their equivalent.

Claims (6)

1. prevent that vehicle is in a method for intersection collision, it comprises:
Calculate the positional information of this car that approaches described intersection and approach another approach-way to the positional information of the opposite vehicle of intersection;
Intersection time to approach based on this car described in described positional information calculation and described opposite vehicle;
The time to approach calculating between the intersection time to approach of described car and the intersection time to approach of described opposite vehicle is poor; And
According to the poor execution subsequent operation of described time to approach.
2. according to claim 1ly prevent that vehicle from, in the method for intersection collision, wherein carrying out described subsequent operation:
When described time to approach is poor while being more than or equal to the first setting-up time, described car advances under current state;
When described time to approach is poor when being less than described the first setting-up time and being more than or equal to the second setting-up time, described car carried out to conflict alert, and
When described time to approach is poor while being less than described the second setting-up time, calculate the aimed acceleration of described car.
3. according to claim 2ly prevent that vehicle is in the method for intersection collision, wherein, when described time to approach is poor while being less than described the second setting-up time, by the aimed acceleration driver calculating.
4. according to claim 3ly prevent that vehicle is in the method for intersection collision, wherein, when described driver does not change acceleration according to the aimed acceleration of notice, according to the described aimed acceleration calculating, automatically control the described acceleration of described car.
5. according to claim 2ly prevent that vehicle is in the method for intersection collision, wherein, when described time to approach is poor while being less than described the second setting-up time, according to the described acceleration calculating, automatically control the acceleration of described car.
6. according to claim 2ly prevent that vehicle from, in the method for intersection collision, wherein calculating described aimed acceleration by following formula:
S - V 0 t 1 2 t
Wherein, S represents the distance to described intersection, V 0represent present speed, t represents intersection time to approach.
CN201410184347.6A 2013-05-03 2014-05-04 Method of preventing collision in vehicle CN104134370A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020130050328A KR101811470B1 (en) 2013-05-03 2013-05-03 Method of preventing collision in vehicle
KR10-2013-0050328 2013-05-03

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Publication Number Publication Date
CN104134370A true CN104134370A (en) 2014-11-05

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US (1) US20140327532A1 (en)
KR (1) KR101811470B1 (en)
CN (1) CN104134370A (en)
DE (1) DE102014006486A1 (en)

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